Public Member Functions | Private Member Functions | Private Attributes | List of all members
khi_robot_control::KhiRobotKrnxDriver Class Reference

#include <khi_robot_krnx_driver.h>

Inheritance diagram for khi_robot_control::KhiRobotKrnxDriver:
Inheritance graph
[legend]

Public Member Functions

bool activate (const int &cont_no, KhiRobotData &data) override
 
bool close (const int &cont_no) override
 
bool commandHandler (khi_robot_msgs::KhiRobotCmd::Request &req, khi_robot_msgs::KhiRobotCmd::Response &res) override
 
bool deactivate (const int &cont_no, const KhiRobotData &data) override
 
bool getPeriodDiff (const int &cont_no, double &diff) override
 
bool hold (const int &cont_no, const KhiRobotData &data) override
 
bool initialize (const int &cont_no, const double &period, KhiRobotData &data, const bool in_simulation=false) override
 
 KhiRobotKrnxDriver ()
 
bool open (const int &cont_no, const std::string &ip_address, KhiRobotData &data) override
 
bool readData (const int &cont_no, KhiRobotData &data) override
 
bool setState (const int &cont_no, const int &state)
 
bool updateState (const int &cont_no, const KhiRobotData &data) override
 
bool writeData (const int &cont_no, const KhiRobotData &data) override
 
 ~KhiRobotKrnxDriver ()
 
- Public Member Functions inherited from khi_robot_control::KhiRobotDriver
bool contLimitCheck (const int &cont_no, const int &limit)
 
void errorPrint (const char *format,...)
 
int getState (const int &cont_no)
 
std::string getStateName (const int &cont_no)
 
int getStateTrigger (const int &cont_no)
 
void infoPrint (const char *format,...)
 
bool isTransitionState (const int &cont_no)
 
void jointPrint (std::string name, const KhiRobotData &data)
 
 KhiRobotDriver ()
 
bool setState (const int &cont_no, const int &state)
 
bool setStateTrigger (const int &cont_no, const int &state_trigger)
 
void warnPrint (const char *format,...)
 
virtual ~KhiRobotDriver ()
 

Private Member Functions

bool conditionCheck (const int &cont_no, const KhiRobotData &data)
 
int execAsMonCmd (const int &cont_no, const char *cmd, char *buffer, int buffer_sz, int *as_err_code)
 
bool getCurMotionData (const int &cont_no, const int &robot_no, TKrnxCurMotionData *p_motion_data)
 
bool loadDriverParam (const int &cont_no, KhiRobotData &data)
 
bool loadRtcProg (const int &cont_no, const std::string &name)
 
bool retKrnxRes (const int &cont_no, const std::string &name, const int &ret, const bool error=true)
 
bool setRobotDataHome (const int &cont_no, KhiRobotData &data)
 
std::vector< std::string > splitString (const std::string &str, const char &del)
 
bool syncRtcPos (const int &cont_no, KhiRobotData &data)
 

Private Attributes

char cmd_buf [KRNX_MSGSIZE]
 
char msg_buf [KRNX_MSGSIZE]
 
std::mutex mutex_state [KRNX_MAX_CONTROLLER]
 
KhiRobotKrnxRtcData rtc_data [KRNX_MAX_CONTROLLER]
 
int sw_dblrefflt [KRNX_MAX_CONTROLLER]
 

Additional Inherited Members

- Protected Attributes inherited from khi_robot_control::KhiRobotDriver
KhiRobotControllerInfo cont_info [KHI_MAX_CONTROLLER]
 
std::string driver_name
 
int error_code
 
bool in_simulation
 
int return_code
 

Detailed Description

Definition at line 60 of file khi_robot_krnx_driver.h.

Constructor & Destructor Documentation

khi_robot_control::KhiRobotKrnxDriver::KhiRobotKrnxDriver ( )

Definition at line 48 of file khi_robot_krnx_driver.cpp.

khi_robot_control::KhiRobotKrnxDriver::~KhiRobotKrnxDriver ( )

Definition at line 58 of file khi_robot_krnx_driver.cpp.

Member Function Documentation

bool khi_robot_control::KhiRobotKrnxDriver::activate ( const int &  cont_no,
KhiRobotData data 
)
overridevirtual

Implements khi_robot_control::KhiRobotDriver.

Definition at line 248 of file khi_robot_krnx_driver.cpp.

bool khi_robot_control::KhiRobotKrnxDriver::close ( const int &  cont_no)
overridevirtual

Implements khi_robot_control::KhiRobotDriver.

Definition at line 218 of file khi_robot_krnx_driver.cpp.

bool khi_robot_control::KhiRobotKrnxDriver::commandHandler ( khi_robot_msgs::KhiRobotCmd::Request &  req,
khi_robot_msgs::KhiRobotCmd::Response &  res 
)
overridevirtual

Implements khi_robot_control::KhiRobotDriver.

Definition at line 923 of file khi_robot_krnx_driver.cpp.

bool khi_robot_control::KhiRobotKrnxDriver::conditionCheck ( const int &  cont_no,
const KhiRobotData data 
)
private

Definition at line 112 of file khi_robot_krnx_driver.cpp.

bool khi_robot_control::KhiRobotKrnxDriver::deactivate ( const int &  cont_no,
const KhiRobotData data 
)
overridevirtual

Implements khi_robot_control::KhiRobotDriver.

Definition at line 408 of file khi_robot_krnx_driver.cpp.

int khi_robot_control::KhiRobotKrnxDriver::execAsMonCmd ( const int &  cont_no,
const char *  cmd,
char *  buffer,
int  buffer_sz,
int *  as_err_code 
)
private

Definition at line 80 of file khi_robot_krnx_driver.cpp.

bool khi_robot_control::KhiRobotKrnxDriver::getCurMotionData ( const int &  cont_no,
const int &  robot_no,
TKrnxCurMotionData p_motion_data 
)
private

Definition at line 602 of file khi_robot_krnx_driver.cpp.

bool khi_robot_control::KhiRobotKrnxDriver::getPeriodDiff ( const int &  cont_no,
double &  diff 
)
overridevirtual

Implements khi_robot_control::KhiRobotDriver.

Definition at line 777 of file khi_robot_krnx_driver.cpp.

bool khi_robot_control::KhiRobotKrnxDriver::hold ( const int &  cont_no,
const KhiRobotData data 
)
overridevirtual

Implements khi_robot_control::KhiRobotDriver.

Definition at line 392 of file khi_robot_krnx_driver.cpp.

bool khi_robot_control::KhiRobotKrnxDriver::initialize ( const int &  cont_no,
const double &  period,
KhiRobotData data,
const bool  in_simulation = false 
)
overridevirtual

Implements khi_robot_control::KhiRobotDriver.

Definition at line 163 of file khi_robot_krnx_driver.cpp.

bool khi_robot_control::KhiRobotKrnxDriver::loadDriverParam ( const int &  cont_no,
KhiRobotData data 
)
private

Definition at line 446 of file khi_robot_krnx_driver.cpp.

bool khi_robot_control::KhiRobotKrnxDriver::loadRtcProg ( const int &  cont_no,
const std::string &  name 
)
private

Definition at line 833 of file khi_robot_krnx_driver.cpp.

bool khi_robot_control::KhiRobotKrnxDriver::open ( const int &  cont_no,
const std::string &  ip_address,
KhiRobotData data 
)
overridevirtual

Implements khi_robot_control::KhiRobotDriver.

Definition at line 178 of file khi_robot_krnx_driver.cpp.

bool khi_robot_control::KhiRobotKrnxDriver::readData ( const int &  cont_no,
KhiRobotData data 
)
overridevirtual

public read function

Implements khi_robot_control::KhiRobotDriver.

Definition at line 529 of file khi_robot_krnx_driver.cpp.

bool khi_robot_control::KhiRobotKrnxDriver::retKrnxRes ( const int &  cont_no,
const std::string &  name,
const int &  ret,
const bool  error = true 
)
private

Definition at line 97 of file khi_robot_krnx_driver.cpp.

bool khi_robot_control::KhiRobotKrnxDriver::setRobotDataHome ( const int &  cont_no,
KhiRobotData data 
)
private

Definition at line 611 of file khi_robot_krnx_driver.cpp.

bool khi_robot_control::KhiRobotKrnxDriver::setState ( const int &  cont_no,
const int &  state 
)

Definition at line 73 of file khi_robot_krnx_driver.cpp.

std::vector< std::string > khi_robot_control::KhiRobotKrnxDriver::splitString ( const std::string &  str,
const char &  del 
)
private

Definition at line 815 of file khi_robot_krnx_driver.cpp.

bool khi_robot_control::KhiRobotKrnxDriver::syncRtcPos ( const int &  cont_no,
KhiRobotData data 
)
private

Definition at line 902 of file khi_robot_krnx_driver.cpp.

bool khi_robot_control::KhiRobotKrnxDriver::updateState ( const int &  cont_no,
const KhiRobotData data 
)
overridevirtual

Implements khi_robot_control::KhiRobotDriver.

Definition at line 728 of file khi_robot_krnx_driver.cpp.

bool khi_robot_control::KhiRobotKrnxDriver::writeData ( const int &  cont_no,
const KhiRobotData data 
)
overridevirtual

public write function

Implements khi_robot_control::KhiRobotDriver.

Definition at line 650 of file khi_robot_krnx_driver.cpp.

Member Data Documentation

char khi_robot_control::KhiRobotKrnxDriver::cmd_buf[KRNX_MSGSIZE]
private

Definition at line 81 of file khi_robot_krnx_driver.h.

char khi_robot_control::KhiRobotKrnxDriver::msg_buf[KRNX_MSGSIZE]
private

Definition at line 82 of file khi_robot_krnx_driver.h.

std::mutex khi_robot_control::KhiRobotKrnxDriver::mutex_state[KRNX_MAX_CONTROLLER]
private

Definition at line 84 of file khi_robot_krnx_driver.h.

KhiRobotKrnxRtcData khi_robot_control::KhiRobotKrnxDriver::rtc_data[KRNX_MAX_CONTROLLER]
private

Definition at line 87 of file khi_robot_krnx_driver.h.

int khi_robot_control::KhiRobotKrnxDriver::sw_dblrefflt[KRNX_MAX_CONTROLLER]
private

Definition at line 83 of file khi_robot_krnx_driver.h.


The documentation for this class was generated from the following files:


khi_robot_control
Author(s): nakamichi_d
autogenerated on Fri Mar 26 2021 02:34:21